CN113291905B - Gripping device, processing device, gripping method, use method and control device - Google Patents

Gripping device, processing device, gripping method, use method and control device Download PDF

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Publication number
CN113291905B
CN113291905B CN202010407854.7A CN202010407854A CN113291905B CN 113291905 B CN113291905 B CN 113291905B CN 202010407854 A CN202010407854 A CN 202010407854A CN 113291905 B CN113291905 B CN 113291905B
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China
Prior art keywords
target object
gripping
actuator
driving
grabbing
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CN202010407854.7A
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CN113291905A (en
Inventor
王昕�
陆成英
洪慰
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Alibaba Group Holding Ltd
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Alibaba Group Holding Ltd
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Priority to CN202010407854.7A priority Critical patent/CN113291905B/en
Publication of CN113291905A publication Critical patent/CN113291905A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/02—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/11—Dimensional aspect of article or web
    • B65H2701/113—Size
    • B65H2701/1131—Size of sheets
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the application provides a grabbing device and a grabbing method. The grabbing device comprises a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member; the control mechanism is used for controlling the first gripping part in the at least one actuator through the driving mechanism and is used for gripping a target object on a placing platform and moving the target object to a gripping part of the second gripping part; and controlling the second gripping part to press the target object and separate the target object from the placing platform in cooperation with the first gripping part. The technical scheme provided by the embodiment of the application realizes automatic object grabbing and saves labor cost.

Description

Gripping device, processing device, gripping method, use method and control device
Technical Field
The embodiment of the application relates to the technical field of mechanical equipment, in particular to grabbing equipment, fabric processing equipment, a grabbing method, a using method of the grabbing equipment, a control device and a computer storage medium.
Background
In the field of factories or warehouses, there is a general need to grasp objects, especially in the textile industry, after finishing printing the fabric by a printing device, the printed fabric needs to be separated from a printing platform, and at present, the capturing and separating are generally performed manually.
Disclosure of Invention
The embodiment of the application provides grabbing equipment and a grabbing method, which are used for solving the problem of manual work in the prior art. The technical problem of higher labor cost.
In a first aspect, an embodiment of the present application provides a gripping apparatus, including a control mechanism, a driving mechanism connected to the control mechanism, and at least one actuator connected to the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the control mechanism is used for controlling the first gripping part in the at least one actuator to grip a target object on a placing platform and move the target object to a gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the target object, and separating the target object from the placing platform in cooperation with the first gripping part.
In a second aspect, an embodiment of the present application provides a fabric gripping device, including a control mechanism, a driving mechanism connected to the control mechanism, and at least one actuator connected to the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
The control structure is used for controlling the first gripping part in the at least one actuator to grip the printed fabric adhered to the printing platform and move the printed fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the printed fabric, and separating the printed fabric from the printing platform by matching with the first gripping part.
In a third aspect, an embodiment of the present application provides a fabric processing apparatus, including an apparatus body and a gripping apparatus configured in the apparatus body, where the gripping apparatus includes a control mechanism, a driving mechanism connected to the control mechanism, and at least one actuator connected to the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the control structure is used for controlling the first gripping part in the at least one actuator to grip the fabric on the placing platform in the equipment body and moving the fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the fabric, and matching the first gripping part to separate the fabric from the placing platform.
In a fourth aspect, an embodiment of the present application provides a gripping method, which is applied to a gripping apparatus, where the gripping apparatus includes a control mechanism, a driving mechanism connected to the control mechanism, and at least one actuator connected to the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the method comprises the following steps:
transmitting a driving instruction to the driving mechanism;
controlling the at least one actuator to move to the position of the target object;
controlling the first gripping member in the at least one actuator to grip a target object;
controlling the first gripping member in the at least one actuator to move the target object to a gripping location of the second gripping member;
the second gripping member is controlled to press the target object and to move so as to separate the target object from the placement platform.
In a fifth aspect, an embodiment of the present application provides a method for using a gripping apparatus, where the gripping apparatus includes a control mechanism, a driving mechanism connected to the control mechanism, and at least one actuator connected to the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
The method comprises the following steps:
pre-configuring control parameters of the grabbing device; wherein the control parameters include an order of actions;
starting the grabbing device, controlling the at least one actuator to move to the position of the target object through the driving mechanism according to the control parameters, controlling the first grabbing component in the at least one actuator to grab the target object and move to the grabbing position of the second grabbing component, controlling the second grabbing component to compress the target object, and separating the target object from the placement platform in cooperation with the first grabbing component.
In a sixth aspect, an embodiment of the present application provides a control apparatus, including:
the driving module is used for sending a driving instruction to the driving mechanism;
the control module is used for controlling the at least one actuator to move to the position of the target object; controlling the first gripping member in the at least one actuator to grip a target object; controlling the first gripping member to move the target object to a gripping location of the second gripping member; the second gripping member is controlled to press the target object and to move so as to separate the target object from the placement platform.
In a seventh aspect, in an embodiment of the present application, there is provided a computer storage medium storing a computer program, where the computer program when executed by a computer implements the grabbing method as described in the fourth aspect.
In the embodiment of the application, the grabbing device is composed of a control mechanism, a driving mechanism and at least one actuator, wherein the actuator comprises a first grabbing component and a second grabbing component; the control mechanism is used for controlling at least one actuator to execute corresponding actions through the driving mechanism, so that the first gripping part is used for gripping a target object on the placing platform and moving the target object to the gripping part of the second gripping part, and the second gripping part is used for pressing the target object and separating the target object from the placing platform in cooperation with the first gripping part; the object can be successfully grabbed through the two grabbing operations of the grabbing device, automatic grabbing of the object is achieved, and labor cost is saved.
These and other aspects of the application will be more readily apparent from the following description of the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a schematic diagram of one embodiment of a gripping apparatus provided by the present application;
FIG. 2 is a schematic diagram showing a part of the structure of an actuator in one practical application according to an embodiment of the present application;
fig. 3 shows a schematic structural view of a further embodiment of a gripping device according to the application;
fig. 4 shows a schematic structural view of a further embodiment of a gripping device provided by the application;
fig. 5 shows a schematic structural view of a further embodiment of a gripping device provided by the application;
FIG. 6 is a schematic diagram showing a part of the structure of an actuator in one practical application according to an embodiment of the present application;
FIG. 7 is a schematic diagram showing the shape of a target object in a practical application of an embodiment of the present application;
FIG. 8 is a schematic diagram of capturing a target object in a practical application of an embodiment of the present application;
FIG. 9 is a flow chart illustrating one embodiment of a grasping method provided by the present application;
FIG. 10 is a flow chart illustrating one embodiment of a method of using a gripping apparatus provided by the present application;
fig. 11 is a schematic structural view of an embodiment of a control device provided by the present application.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings.
In some of the flows described in the specification and claims of the present application and in the foregoing figures, a plurality of operations occurring in a particular order are included, but it should be understood that the operations may be performed out of order or performed in parallel, with the order of operations such as 101, 102, etc., being merely used to distinguish between the various operations, the order of the operations themselves not representing any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
The technical scheme in the embodiment of the application is mainly applied to application scenes with object grabbing requirements, such as industrial production scenes or warehouse storage scenes, and the aimed grabbing objects can be objects with thinner thickness and poorer rigidity.
Taking the case of grabbing the fabric in the textile industry scene, wherein the fabric can be a clothing cut-parts, at present, though grabbing equipment capable of grabbing the fabric exists, such as a sucker type manipulator is adopted to grab the fabric, but for the printed fabric, in order to keep the fabric stable in the printing process so that the printing is not deviated, the fabric is fixed by adopting a mode that adhesive substances such as gluing are used for adhering the fabric to a printing platform, so that the sucker type manipulator cannot separate the fabric from the printing platform, and therefore, the manual mode is still adopted to grab and separate at present, the labor cost is high, and the production efficiency is influenced.
In order to solve the problems in the prior art, the inventor provides a technical scheme of the application through a series of researches, and the application provides the grabbing equipment which can automatically grab the object and save the labor cost.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
Fig. 1 is a schematic structural diagram of an embodiment of a gripping apparatus according to an embodiment of the present application, where the gripping apparatus may include:
a control mechanism 101, a drive mechanism 102 and at least one actuator 103;
wherein the driving mechanism 102 is connected with the control mechanism 101, and at least one actuator 103 is respectively connected with the driving mechanism 102; each actuator 103 comprises a first grip part 11 and a second grip part 12;
wherein, the control mechanism 101 is used for controlling at least one actuator 103 to execute corresponding actions through the driving mechanism 102; the control mechanism 101 may be configured to send corresponding control instructions to the driving mechanism 102, where the driving mechanism 102 provides corresponding power sources to the at least one actuator 103 to drive the at least one actuator 103 to perform corresponding actions.
Specifically, the control mechanism 101 may control the first gripping member 11 in each actuator 103 through the driving mechanism 102, grasp the target object on the placement platform and move the target object to the gripping position of the second gripping member 12; and controlling the second gripping member 12 to press the target object and separate the target object from the placement platform in cooperation with the first gripping member 11;
specifically, the control mechanism 101 may first control the at least one actuator 103 to move to the position where the target object is located through the driving mechanism 102, then control each first gripping member 11 to grip the target object on the placement platform and move the target object to the gripping location of the corresponding second gripping member 12, and then control each second gripping member 12 to compress the target object and separate the target object from the placement platform.
When the target object is placed horizontally, the control mechanism controls the second gripping part to separate the target object from the placing platform through the driving mechanism, and the control mechanism controls the second gripping part to move in the horizontal direction relative to the placing platform so as to separate the target object from the placing platform.
Since the gripping device comprises at least one actuator, and each actuator comprises a first gripping member and a second gripping member, the respective actions that the first gripping member and the second gripping member can perform are that each first gripping member and each second gripping member can perform.
After the control mechanism controls at least one actuator to move to the position of the target object through the driving mechanism, each actuator can respectively correspond to one grabbing part of the target object, and the first grabbing component in each actuator is used for executing grabbing operation on the corresponding grabbing part. The grasping location may be a location in an edge region of the target object. Optionally, the grabbing positions corresponding to different actuators may be determined in combination with the outline shape of the target object, and after at least one actuator is adjusted to achieve that the at least one actuator moves to the position where the target object is located, each actuator corresponds to a corresponding grabbing position.
The driving mechanism 102 may provide a power source for at least one actuator 103, which is controlled by a driving instruction of the control mechanism 101, and drives at least one actuator 103 to perform a corresponding action.
Wherein, control parameters may be preconfigured in the control mechanism 101, and the control parameters may include at least an action sequence, so that the control mechanism 101 may control different components in at least one actuator to execute corresponding actions according to the action sequence. Of course, the control parameters may also include action time and action interval between different actions, and motion parameters of different components, such as speed, acceleration, direction, etc., so that the control mechanism may drive the actuator to execute corresponding actions by the driving mechanism, so as to complete grabbing of the target object.
Wherein the second gripping member 12 may be controlled to release the target object after compacting the target object.
In this embodiment, snatch the target object through two gripping parts, first gripping part snatchs for the first time, can be followed and snatched the at least partial region of target object in the place platform, snatchs by the second gripping part for the second time, fixedly compresses tightly the target object for the target object can be separated from the place platform, can successfully snatch the target object through twice snatch the operation, has saved the human cost. In particular, the technical scheme of the embodiment can ensure the grabbing success rate aiming at the target objects which are light and thin, have poor rigidity or are adhered to the placing platform.
In one practical application, the target object may be a flexible object, such as a fabric or paper, or the like. In order to ensure that the flexible object can be grasped, the first grasping member may be a flexible clamp to enable grasping of the target object without losing the target object; the second gripping member may be a rigid clamp to be able to fix and compress the target object, so that the target object may get rid of its own gravity influence or external force influence, and separate from the placement platform, for example, when the target object is a printed fabric on the printing platform, the purpose of peeling the printed fabric adhered to the printing platform from the printing platform may be achieved, in order to further improve the grabbing success rate, when the target object is adhered to the placement platform, a predetermined fabric area including a fabric area where the grabbing portion is located in the target object may be provided with an anti-adhesion material or the like.
The first gripping member and the second gripping member may be implemented using a pneumatic clamp, a hydraulic clamp, an electric clamp, a magnetic clamp, or a vacuum clamp.
The pneumatic clamp uses compressed air as a power source, and the driving mechanism comprises a corresponding cylinder driving part; the hydraulic clamp uses pressure oil as a power source, and the driving mechanism comprises a corresponding hydraulic driving part; the electric clamp uses an electric motor as a power source, and the driving mechanism comprises a corresponding electric motor; the magnetic fixture uses magnetic force generated by an electromagnet or a permanent magnet as a power source, and the driving mechanism comprises a corresponding magnetic driving component; the vacuum clamp adopts a vacuum pump or takes compressed air as a power source and the driving mechanism comprises a corresponding vacuum driving part.
Since the first gripping member and the second gripping member may be driven separately, the driving mechanism may include at least a first driving member to which each first gripping member is connected, and a second driving member to which each second gripping member is connected. Alternatively, the first and second driving parts may be cylinder driving parts, hydraulic driving parts, motors, magnetic driving parts, or vacuum driving parts.
In some embodiments, where the first gripping member is a flexible clamp, it may be implemented using a clamp-type clamp, an adsorption-type clamp, or a holding-type clamp.
When the first gripping member is a clamp type clamp, the first gripping member may be constituted by a plurality of jaws for gripping the target object. The clamping type clamp may be a pneumatic clamp, that is, the first driving part may be a cylinder driving part, the control mechanism controls the first driving part to supply air, the plurality of jaws may grasp the target object, and the plurality of clamps may release the target object when the air direction is changed. The clamping jaw can be made of silica gel, when the cylinder driving part supplies air, the clamping jaw can be inflated to be full, so that a plurality of clamping jaws can grasp a target object, and the target object can be loosened after the clamping jaws are deflated.
When the first gripping member is an adsorptive clamp, it may be, for example, a vacuum chuck, a needle chuck, or an electrostatic chuck.
When the second gripping member is a rigid clamp, the second gripping member may include at least two pressing claws: the first pressing claw and the second pressing claw can be closed to press the target object.
As shown in fig. 2, which is an at least partial schematic structural view of an actuator 103 in a practical application of the embodiment of the present application, the actuator 103 may be composed of a first gripping member 11 and a second gripping member 12;
Alternatively, the first grip part 11 may be located at the grip location of the second grip part 12, as shown in fig. 2, so that the first grip part 11 may be moved out or reset to the grip location of the second grip part 12 by moving up and down. After the first gripping member 11 grips the target object, and then is reset, the second gripping member 12 can be closed to press the target object.
Therefore, the control mechanism may specifically control, after the driving mechanism controls the at least one actuator to move to the position where the target object is located, each first gripping member to move to grip the target object, and then control each first gripping member to reset to move the target object to the gripping position of the corresponding second gripping member.
Of course, it will be appreciated that the present application is not limited to the positional relationship shown in fig. 2, and that the first grip member 11 and the second grip member 12 may be in any deployment positional relationship.
In the schematic structural diagram shown in fig. 2, the first driving component 21 connected with the first gripping component 11 in the driving mechanism may be further included, the first driving component 21 may be a cylinder driving component, and the first gripping component 11 and the first driving component 21 may be connected through a first connecting block 22; in addition, a second driving member 23 connected to the second gripping member 12 may be included in the driving mechanism, and the second driving member may be a cylinder driving member, and the second gripping member 12 and the second driving member 23 may be connected through a second connection block 24.
Wherein the first gripping member 11 may be constituted by a plurality of jaws, which may be divided into a first set of jaws 25 and a second set of jaws 26, each set of jaws may comprise at least one jaw. When the first gripping member 11 grips the target object, the first set of gripping jaws 25 may contact the target object and the second set of gripping jaws 26 may contact the placing platform, as the target object is located on the placing platform, thereby achieving the object of gripping the target object.
The second gripping member 12 may include two jaws, a first jaw 27 and a second jaw 28 as shown in fig. 2, and the second driving member 23 may drive the second jaw 28 to move in the direction of the first jaw 27 for closing purposes.
In order to further improve the gripping success rate of the target object, which may be a flexible object such as fabric or paper, etc., as shown in fig. 3, the difference from fig. 1 is that each actuator 103 may further include an air blowing member 13 therein.
In one practical application, reference may be made to the blowing member 13 shown in fig. 2, which blowing member 13 may comprise a blowing hole for blowing air through the blowing hole, which blowing member may be disposed on the second gripping member in fig. 2, it being understood that the position of the blowing member may be disposed arbitrarily, as long as it is ensured that the blowing direction may be directed from the second set of jaws to the first set of jaws, or that the second press jaw is directed to the first press jaw.
As an alternative, the control means may control the blowing means 13 to blow up at least part of the area of the target object from the placement platform by the determination means for the first gripping means 11 to grip the target object.
Wherein the first grip part 11 may be located between two press jaws of the second grip part 12.
Specifically, the control mechanism 101 may control the air blowing component 13 to blow air to the grabbing part of the target object after the driving mechanism 102 controls the actuator 103 to move to the position of the target object; thereafter, the first gripping member 11 is controlled to move to grip the target object; thereafter, the first gripping member 11 is controlled to be reset to move the target object to the gripping site of the second gripping member 12; thereafter, the second gripping member 12 is controlled to compress the target object and separate the target object from the placement platform.
That is, in each actuator, the order of actions of the air blowing member, the first gripping member, and the second gripping member may be: the air blowing member performs an air blowing action, the first gripping member performs a moving action, the first gripping member performs a gripping action, the first gripping member performs a resetting action, the second gripping member performs a gripping action, and the second gripping member performs a separating action.
Since the at least one actuator corresponds to the at least one blowing component, each blowing component blows to the respective corresponding gripping location so that the gripping location of the target object can be blown up and separated from the placement platform. In practical application, the grabbing part is located in the edge area of the target object, so that the air blowing component can blow air from the outline of the target object to the center direction, at least part of the edge area of the target object can be blown up and separated from the placement platform, at this time, the first grabbing component can be controlled to move (namely, the first grabbing component is controlled to move downwards in fig. 2) to contact with the blown-up part of the target object and perform grabbing action, and the target object can be grabbed to achieve grabbing of the target object. After the first gripping member is reset, at least part of the area of the target object is driven to be placed at the gripping position of the second gripping member, and at this time, the second gripping member can execute gripping action to press the target object.
As another alternative, the control means may control the blowing means 13 by means of the driving means, and may be used to blow air to the grasping area of the target object after the first grasping means 11 grasps the target object to blow up at least a partial area of the target object.
Alternatively, the control mechanism 101 may control the actuator 103 to move to the position where the target object is located through the driving mechanism; thereafter, the first gripping section 11 is controlled to grip the target object; then, the air blowing part 13 is controlled to blow air to the grabbing part of the target object; then, the first gripping member 11 is controlled to move the target object to the gripping portion of the second gripping member; thereafter, the second gripping member 12 is controlled to compress the target object and separate the target object from the placement platform.
That is, in each actuator, the order of actions of the air blowing member, the first gripping member, and the second gripping member may be: the first gripping member performs a gripping action, the air blowing member performs an air blowing action, the first gripping member performs a moving action, the second gripping member performs a gripping action, and the second gripping member performs a separating action.
Because each actuator comprises the first gripping part, the second gripping part and the air blowing part, in practical application, the first gripping part can separate at least part of the area of the target object from the placing platform by performing the gripping action, and at the moment, the air blowing part can blow air to the gripping part to blow the target object further from the placing platform, so that the first gripping part can conveniently move the target object to the gripping part of the second gripping part. Particularly, when the first gripping member is a flexible clamp, the air blowing member blows air to the gripping portion of the target object, so that the influence of gravity of the target object in the gripping process can be reduced, and the first gripping member can successfully move at least part of the region of the target object to the gripping portion of the second gripping member. And the first gripping part is assisted by the air blowing part to move the target object to the gripping part of the second gripping part, so that the gripping area of the second gripping part can be increased, and the gripping success rate of the target object is further improved.
The first gripping member may be located at a gripping portion of the second gripping member, and the first gripping member may be controlled to move and reset to grip and move the target object to the gripping portion of the second gripping member.
Of course, as a further alternative, the blowing component 13 blows air to the grabbing portion of the target object, and it is also possible to achieve that at least part of the area of the target object is blown to the grabbing portion of the second grabbing component 12, so that, alternatively, the control mechanism 101 may control the actuator 103 to move to the position where the target object is located by the driving mechanism 102; thereafter, the first gripping section 11 is controlled to grip the target object; then, the air blowing member 13 is controlled to blow air to the grasping portion of the target object to blow at least a partial area of the target object to the grasping portion of the second grasping member 12; thereafter, the second gripping member 12 is controlled to compress the target object and separate the target object from the placement platform.
Further, in some embodiments, the first gripping member may be a clamp-type clamp, and may include a plurality of jaws; the control mechanism may specifically control the first set of clamping jaws of the first gripping member to contact the target object and the second set of clamping jaws to contact the placing platform by means of the driving mechanism, and control the first set of clamping jaws and the second set of clamping jaws to grip the target object.
The driving mechanism may further include a fifth driving component connected to the air blowing component, where the fifth driving component may be implemented by using an air cylinder driving component, a hydraulic driving component, a motor, a magnetic driving component, or a vacuum driving component, and the application is not limited thereto, and in practical application, the fifth driving component may be implemented by using a magnetic driving component.
In addition, the air blowing member may be disposed in the actuator, but may be disposed alone in the gripping device, or may be used in combination with the gripping device as a separate device, or the like, which is not particularly limited in the present application.
As a further embodiment, as shown in fig. 4, the gripping device may also comprise a first detection mechanism 104 for detecting the distance between the at least one actuator 103 and the target object, unlike the embodiment of fig. 1.
Alternatively, the distance between the at least one actuator 103 and the target object may particularly refer to the distance between any one of the second gripping members and the target object. Alternatively, in the actuator structure as shown in fig. 2, the distance between the at least one actuator 103 and the target object may specifically refer to the distance between any one of the second gripping members and the target object.
Since the distance between each actuator and the target object may be the same after the adjustment of at least one actuator when the target object is placed horizontally, the first detection mechanism may be arranged on the horizontal line where the grippers of any one of the second gripping members are located.
The control mechanism 101 may control the corresponding action of the at least one actuator 103 by the driving mechanism 102 according to the detected parameter of the first detection mechanism 104.
Specifically, the control mechanism 101 may control, according to the detection parameter of the first detection mechanism 104, the at least one actuator 103 to move to a first distance above the target object through the driving mechanism 102, and control the first gripping member 11 and the second gripping member 12 to execute corresponding actions.
The control mechanism may specifically control at least one actuator to move to a first distance above the grabbing position of the target object through the driving mechanism, that is, ensure that each actuator is a first distance from the grabbing position in the corresponding target object, where the first distance may be, for example, 2 mm to 3 mm in practical application, so that the first grabbing component in the actuator may contact the corresponding grabbing position to grab the target object.
The first detection mechanism may be, for example, a distance sensor, a camera, or other devices capable of measuring a distance in practical application.
The specific actions performed by the first gripping member and the second gripping member may be described in detail above, and will not be described herein.
As a further embodiment, as shown in fig. 5, the gripping device may further comprise a second detection mechanism 105 connected to the control mechanism 101, which is different from the embodiment shown in fig. 1, since a certain damage may not occur during the use of the actuator, especially when the first gripping member is a flexible clamp, and a abrasion condition may easily occur, which may cause the gripping of the target object to fail;
a second detecting mechanism 105 for detecting whether the at least one actuator 103 successfully grabs the target object;
the control mechanism 101 is further configured to determine whether to control the at least one actuator 103 to execute the corresponding action again through the driving mechanism 102 according to the detection result of the second detection mechanism 105.
The grabbing success rate of the target object can be ensured by triggering the executor again to execute grabbing action.
When the detection result is that the at least one actuator 103 fails to capture the target object, the driving mechanism 102 may control the at least one actuator 103 to execute the corresponding action again, otherwise, the capturing process may be ended.
The second detection mechanism can be controlled by the control mechanism, and can detect whether the at least one actuator successfully grabs the target object after the second grabbing component separates the target object from the placement platform for a certain time.
Of course, the detection by the second detection mechanism may be performed in real time, and the control mechanism may acquire the detection result of the second detection mechanism after a certain time has elapsed since the second gripping member is controlled to separate the target object from the placement platform.
The second detection mechanism may be a detection device such as an image sensor or an infrared sensor that can identify the target object in practical application.
In addition, in some embodiments, the control mechanism may be further configured to detect that the number of re-executions of the at least one actuator is greater than a preset number of times, and generate the alert information.
The warning information can be used for prompting a user to carry out fault maintenance and the like on the actuator.
The control mechanism may output the warning information in the form of sound or display content, and of course, the warning information may also be sent to the maintenance personnel, for example, in the form of communication such as a short message, mail, or voice communication.
Further, as yet another embodiment, the grasping apparatus may further include a third detecting mechanism for detecting a grasping portion in the target object.
The control structure may thus also be adapted to adjust the at least one actuator, e.g. to control the movement or rotation of the at least one actuator, etc. in dependence on a detection parameter of the third detection structure, i.e. to detect the obtained gripping location, such that the at least one actuator corresponds to the gripping location.
The third detection means may be a sensor such as a camera.
In order to ensure that the gripping device can be adapted to target objects of different contour shapes, as a further embodiment, at least one actuator can be arranged in an actuator, which is connected to a drive mechanism, as in the at least partially schematic illustration of the actuator shown in fig. 6, the actuator can comprise at least two transport rods 60 which are movably connected, wherein at least one group of actuators 61 can be movably arranged on each transport rod 60, wherein at least one actuator 103 can be included in each group of actuators 61. One implementation of each actuator 103 is shown in fig. 2, although the application is not limited to the configuration shown in fig. 2.
The control mechanism 101 may specifically control, based on the grabbing portion of the target object, at least two conveying rods 60 to rotate through the driving mechanism 102, so that a corresponding included angle is formed between two conveying rods 60 that are adjacently connected, control at least one group of actuators 61 to move on the conveying rods 60, and control actuators 103 in at least one group of actuators 61 to rotate by corresponding angles, respectively.
For convenience of understanding, taking the target object as a clothing cut-piece as an example, fig. 7 shows a schematic shape of the clothing cut-piece, where the grabbing positions corresponding to different actuators may refer to two edge areas in an elliptical dashed frame in the drawing, and the first edge area 70 and the second edge area 71 are not on the same straight line, and when the actuator includes two conveying rods, the two conveying rods may respectively correspond to one edge area by adjusting an included angle between the two conveying rods, and the actuators on each conveying rod may respectively correspond to respective grabbing positions.
At least one actuator of each group of actuators can move on the respective conveying rod and can rotate by a corresponding angle so that the actuators correspond to the respective grabbing positions.
As can be seen from the foregoing description, the control mechanism may be preconfigured with a control parameter, and optionally, the control parameter may also include an included angle between any two adjacent conveying rods, a movement parameter of each group of actuators, a rotation angle corresponding to each actuator, and the like, so that the control mechanism may control the conveying rods and the corresponding actions of the actuators according to the included angle between any two adjacent conveying rods, the movement parameter of each group of actuators, and the rotation angle corresponding to each actuator.
The included angle between any two adjacent conveying rods, the moving parameters of each group of actuators and the corresponding rotating angles of each actuator can be obtained by combining the grabbing parts of the target objects in advance.
Of course, the control structure may also be combined with the grabbing part obtained by detecting by the third detection structure to determine the included angle between any two adjacent conveying rods, the movement parameters of each group of actuators, the corresponding rotation angles of each actuator, and the like, so as to control the corresponding actions of the conveying rods and the actuators, so that the actuators can correspond to the respective grabbing parts.
The conveying rod can be a screw rod, a crank, a sliding rail or a synchronous belt, and each corresponding actuator can be connected with the screw rod, the crank, the sliding rail or the synchronous belt through a connecting block to realize movement on the screw rod, the crank, the sliding rail or the synchronous belt.
Since the feed bars can be angularly adjusted, each set of actuators can be moved over the feed bars, in some embodiments, the drive mechanism can further include a third drive member to which each feed bar is connected, and a fourth drive member to which each set of actuators is connected.
The third driving part and the fourth driving part may be implemented by a cylinder driving part, a hydraulic driving part, a motor, a magnetic driving part, a vacuum driving part, or the like, which is not particularly limited in the present application, and may be implemented by a motor in practical applications.
In one practical application, the gripping device may be implemented as a manipulator, and the actuator may further include a mechanical arm, and the actuator may be mounted on the mechanical arm.
When the actuating mechanism comprises at least two conveying rods, the at least two conveying rods can be mounted on the mechanical arm.
The gripping device can further comprise a traveling mechanism connected with the driving mechanism, at least one actuator can be connected with the traveling mechanism, the control mechanism can control the traveling mechanism to travel to the placement platform through the driving mechanism, and then the actuator can be controlled to move to the position of the target object.
When the mechanical arm is arranged in the execution mechanism, one end of the mechanical arm can be provided with the at least one actuator, the other end of the mechanical arm can be provided with the traveling mechanism, the control mechanism can control the traveling mechanism to travel through the driving mechanism and can control the mechanical arm to move, and the purpose of moving the at least one actuator to the position of the target object is achieved.
In addition, in order to facilitate the execution of the executing mechanism, the grabbing device can further comprise a supporting mechanism, one end of the supporting mechanism can be installed on the travelling mechanism, and the other end of the supporting mechanism is connected with the executing mechanism. When the actuator comprises a mechanical arm, one end of the mechanical arm can be provided with the actuator, and the other end of the mechanical arm can be specifically arranged on the supporting mechanism.
It should be noted that the foregoing illustrates only a few possible external configurations of the gripping device, and the present application is not limited thereto, and the gripping device may necessarily include other necessary components, such as a travelling mechanism, etc., in order to implement some necessary operations of the gripping device, such as movement, etc., and the present application is not limited thereto, so as to adapt to different situations, such as volumes and sizes of the gripping device, etc.
Fig. 8 is a schematic structural diagram of a grabbing device according to an embodiment of the present application for grabbing a target object, where at least part of structures in an actuator, such as a mechanical arm 80 and an actuator 103, are drawn by the grabbing device in fig. 8, and a control mechanism controls the actuator to execute a corresponding grabbing action by using a driving mechanism, so as to achieve grabbing of the target object 81.
In an actual application, the grabbing device provided by the embodiment of the application can be used for grabbing fabrics, for example, grabbing printed fabrics on a printing platform can be realized.
Therefore, as a further embodiment, the embodiment of the present application further provides a fabric gripping apparatus, including a control mechanism, a driving mechanism connected with the control mechanism, and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the control mechanism is used for controlling the first gripping part in the at least one actuator to grip the printed fabric adhered to the printing platform and move the printed fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the printed fabric and separating the printed fabric from the printing platform in cooperation with the first gripping part.
The fabric grabbing device of this embodiment is different from the grabbing device described above only in that the target object is a printed fabric, and other corresponding structural parts and functional implementation parts can be described in detail in each embodiment of the grabbing device described above, and the detailed description will not be repeated here.
The printed fabric is adhered to the printing platform by adopting adhesive substances such as glue coating and the like, so that the printed fabric cannot be easily stripped from the printing platform.
This first gripping part can be flexible fixture, and the second gripping part can be rigid fixture, utilizes flexible fixture to snatch for the first time, can avoid causing the damage to stamp surface fabric and stamp platform, and receive stamp surface fabric's self gravity influence and stamp platform to stamp surface fabric's adhesion force influence, and flexible fixture can't realize peeling off stamp surface fabric from stamp platform, consequently, compress tightly stamp surface fabric through the second gripping part and remove again, can follow stamp surface fabric and successfully peel off, need not to adopt the manual grabbing mode also can realize automatic realization stamp surface fabric's snatching, the human cost has been saved.
After the grabbing device separates the printed fabric from the placement platform, the printed fabric can be placed at a designated position according to different actual requirements, and the application is not limited in particular.
In addition, in order to further facilitate the first gripping member to grip the printed fabric, an anti-sticking material may be disposed in a predetermined fabric area where a gripping portion corresponding to the gripping device in the printed fabric is located, so that the first gripping member may easily grip the printed fabric. The grabbing part is usually positioned in the edge area of the printed fabric, so that the stability of the printed fabric in the printing process is not affected, and the printed fabric can be integrally fixed on a printing platform, and the printing is ensured not to deviate. The predetermined fabric area may at least include a fabric area where the grabbing portion is located and a fabric area within a certain range around the grabbing portion, and still taking the service cut-off as shown in fig. 7 as an example, the predetermined fabric area may be referred to as a fabric area 72 located in a rectangular dashed frame, and the predetermined fabric area 72 includes at least a first edge area 70 and a second edge area 71 where the grabbing portion is located.
In still another practical application, the gripping device may be integrated with the fabric processing device into an integral device, that is, the fabric processing device may be configured with the gripping device, and the fabric processing device may refer to, for example, the fabric printing device for performing printing processing, which is referred to above, and may be configured with the gripping device, so that after printing is completed, the printed fabric is automatically separated from the printing platform, so as to further provide, as a further embodiment, the fabric processing device, an apparatus body and the gripping device configured in the apparatus body, where the gripping device may include a control mechanism, a driving mechanism connected with the control mechanism, and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
The control structure is used for controlling the first gripping part in the at least one actuator to grip the fabric on the placing platform in the equipment body and moving the fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the fabric, and matching the first gripping part to separate the fabric from the placing platform.
In one practical application, the fabric treatment device may be a fabric printing device, the placement platform is a printing platform, the fabric is a printed fabric, and the printed fabric is adhered to the printing platform.
The equipment body in the fabric treatment equipment is specifically an equipment assembly for fabric treatment, has the same structure as the prior art, and is not described herein again. When the fabric treatment equipment is fabric printing equipment, the equipment body is an equipment component for printing treatment and comprises a printing platform and the like.
The specific structure of the gripping device in the fabric processing device in this embodiment may be seen in detail in the gripping device in the foregoing embodiments, and the gripping device is different from the foregoing gripping device only in that the target object is fabric, and is configured on the device body of the fabric processing device as a component of the fabric processing device. Other corresponding structural parts and functional implementation parts may be described in detail in the foregoing embodiments of the gripping apparatus, and will not be repeated here. When the fabric processing device is a fabric printing device, the grabbing device is specifically the fabric grabbing device in the previous embodiment.
In practical applications, the fabric may specifically refer to cut pieces of clothing or the like that need to be subjected to printing treatment.
The embodiment of the present application further provides a gripping method, as shown in fig. 9, corresponding to the gripping device described in any embodiment, where the gripping method is performed by the gripping device described above, and may specifically be performed by a control mechanism in the gripping device, and the specific structure of the gripping device may be described in detail in the foregoing, which is not repeated herein.
The method may comprise the steps of:
901: and sending a driving instruction to the driving mechanism.
902: and controlling at least one actuator to move to the position of the target object.
903: a first gripping member in the at least one actuator is controlled to grip the target object.
904: a first gripping member of the at least one actuator is controlled to move the target object to a gripping location of a second gripping member.
905: the second gripping member is controlled to press against the target object and to move the second gripping member to separate the target object from the placement platform.
The operations of steps 902-905 can be triggered and executed by the driving mechanism.
In some embodiments, sending the drive instruction to the drive mechanism may include:
in response to the start instruction, a drive instruction is sent to the drive mechanism.
Wherein the initiation instruction may be user-triggered.
In some embodiments, the grasping apparatus may further comprise a first detection mechanism for detecting a distance between the at least one actuator and the target object;
controlling the movement of an actuator to the location of the target object may include:
acquiring detection parameters of a first detection mechanism;
based on the detection parameters, at least one actuator is controlled to move to a first distance from the grabbing site of the target object.
In some embodiments, the gripping apparatus further comprises a second detection mechanism for detecting whether the at least one actuator successfully grips the target object;
the method further includes, after controlling the second gripping member to press the target object and moving the second gripping member:
obtaining a detection result of the second detection mechanism;
and according to the detection result, determining that at least one actuator does not grasp the target object, and returning to the step of sending the driving instruction to the driving mechanism again for continuous execution.
In some embodiments, the method may further comprise:
and generating warning information when the re-execution times of at least one actuator exceeds the preset times.
Furthermore, the method may further comprise:
outputting the warning information.
In addition, as shown in fig. 10, the embodiment of the present application further provides a method for using the gripping device, the specific structure of the gripping device may be described in detail in the foregoing, and the method may include the following steps:
1001: control parameters of the grabbing device are pre-configured.
Wherein the control parameter may comprise an order of actions.
In addition, the control parameters can also include action time and action interval of different actions, and motion parameters of different parts, such as speed, acceleration, direction, arrival position and the like.
1002: the grabbing device is started, so that the grabbing device controls and executes an actuator to execute corresponding actions according to the control parameters through the driving mechanism.
Wherein the corresponding actions may include: the method comprises the steps of controlling at least one actuator to move to a position where a target object is located, controlling a first gripping part in each actuator to grip the target object and move to a gripping position of a second gripping part, and controlling the second gripping part in each actuator to press the target object and separate the target object from a placing platform in cooperation with the first gripping part.
In some embodiments, at least one actuator may be specifically configured in an actuator that may include at least two delivery rods that are movably coupled, wherein at least one group of actuators may be movably disposed on each delivery rod, wherein each group of actuators may include at least one actuator.
The control parameters can also comprise the included angle between any two adjacent conveying rods, the movement parameters of each group of actuators, the corresponding rotation angle of each actuator and the like. The grabbing device can control at least two conveying rods to rotate through the driving mechanism according to the included angle between any two conveying rods which are adjacently connected, the moving parameters of each group of actuators and the corresponding rotating angles of each actuator, so that the included angle is formed between the two conveying rods which are adjacently connected, at least one group of actuators is controlled to move on the conveying rods, the actuators in at least one group of actuators are controlled to rotate by the rotating angles respectively, and the like.
Fig. 11 is a schematic structural diagram of an embodiment of a control device according to an embodiment of the present application, where the device may be configured in a control mechanism of the embodiment shown in fig. 1, and in practical application, the control mechanism may include, for example, a processor, a memory, and the like, and the control device may be specifically configured in the processor, and may be used as a function that may be implemented by the processor;
the apparatus may include:
a driving module 1101 for sending a driving instruction to the driving mechanism;
the control module 1102 is configured to control at least one actuator to move to a position where the target object is located; controlling the first gripping member to grip the target object; controlling the first gripping member to move the target object to the gripping portion of the second gripping member; the second gripping member is controlled to press against the target object and to move the second gripping member to separate the target object from the placement platform.
In some embodiments, the drive module may be specifically configured to send a drive command to the drive mechanism in response to the start command.
In some embodiments, the grasping apparatus further comprises a first detection mechanism for detecting a distance between the at least one actuator and the target object;
the control module controlling the at least one actuator to move to the position of the target object comprises: acquiring detection parameters of a first detection mechanism; based on the detection parameters, at least one actuator is controlled to move to a first distance above the target object.
In some embodiments, the gripping apparatus further comprises a second detection mechanism for detecting whether the at least one actuator successfully grips the target object;
the control module is also used for acquiring a detection result of the second detection mechanism; and according to the detection result, determining that at least one actuator does not grasp the target object, and re-triggering the driving module to execute.
In some embodiments, the control module is further configured to generate the alert information when the number of re-executions of the at least one actuator exceeds a predetermined number.
The control device shown in fig. 11 may perform the grasping method described in the embodiment shown in fig. 9, and its implementation principle and technical effects are not described again. The specific manner in which the respective modules and units of the control apparatus in the above embodiments perform operations has been described in detail in the embodiments related to the method, and will not be described in detail here.
In addition, the embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program can realize the grabbing method of the embodiment shown in fig. 9 when being executed by a computer.
The computer readable storage medium may be deployed as a memory in the control mechanism, so that a processor in the control mechanism executes the computer program in the memory to implement the grabbing method of the embodiment shown in fig. 9.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (31)

1. The grabbing device is characterized by comprising a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the control mechanism is used for controlling the first gripping part in the at least one actuator to grip a partial area of a target object on a placing platform and move the target object to a gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the partial area of the target object and separate the residual area of the target object, and matching with the first gripping part to separate the target object from the placing platform.
2. The grasping apparatus according to claim 1, wherein the actuator further comprises an air blowing member;
the control mechanism is also used for controlling the blowing component to blow up at least part of the area of the target object from the placement platform through the driving mechanism so that the first gripping component can grip the target object.
3. The gripping apparatus according to claim 2, wherein the second gripping member comprises two press jaws, the first gripping member being located between the two press jaws of the second gripping member;
The control mechanism specifically controls the at least one actuator to move to the position where the target object is located through the driving mechanism, controls the air blowing component to blow air to the grabbing part of the target object, controls the first grabbing component to move to grab the target object, controls the first grabbing component to reset to move the target object to the grabbing part of the second grabbing component, and controls the second grabbing component to press the target object and move the second grabbing component so as to separate the target object from the placing platform.
4. The grasping apparatus according to claim 1, wherein the actuator further comprises an air blowing member;
the control mechanism is also used for controlling the blowing component to blow air to the grabbing part of the target object after the first grabbing component grabs the target object through the driving mechanism so as to blow up at least part of the area of the target object.
5. The gripping apparatus according to claim 4, wherein the control means, in particular by the drive means, controls the at least one actuator to move to the position of the target object, controls the first gripping member to grip the target object, controls the air blowing member to blow air towards the gripping location of the target object, controls the first gripping member to move the target object to the gripping location of the second gripping member, and controls the second gripping member to press the target object and move the second gripping member to separate the target object from the placement platform.
6. The grasping apparatus according to claim 5, wherein the first grasping member comprises a plurality of jaws;
the control mechanism controls the first gripping part to grip the target object through the driving mechanism, specifically controls the first group of clamping jaws of the first gripping part to contact the target object through the driving mechanism, and controls the first group of clamping jaws and the second group of clamping jaws to grip the target object through the second group of clamping jaws to contact the placing platform.
7. The grasping apparatus according to claim 1, further comprising a first detecting mechanism connected to the control mechanism;
the first detection mechanism is used for detecting the distance between the at least one actuator and the target object;
the control mechanism specifically controls the at least one actuator to execute corresponding actions through the driving mechanism according to the detection parameters of the first detection mechanism.
8. Gripping device according to claim 7, characterized in that the control means, in particular in accordance with the detection parameters of the first detection means, control the at least one actuator to move to a first distance above the target object by the drive means and control the at least one actuator to perform a corresponding action.
9. The grasping apparatus according to claim 1, further comprising a second detecting mechanism connected to the control mechanism;
the second detection mechanism is used for detecting whether the at least one actuator successfully grabs the target object;
the control mechanism is also used for determining whether to control the at least one actuator to execute corresponding actions again through the driving mechanism according to the detection result of the second detection mechanism.
10. The grasping apparatus according to claim 9, wherein the control mechanism is further configured to detect that the number of re-executions of the at least one executor is greater than a preset number of times, and generate the alert information.
11. The grasping apparatus according to claim 1, further comprising a third detecting mechanism connected to the control mechanism;
the third detection mechanism is used for identifying the grabbing part of the target object;
the control mechanism is further used for adjusting the at least one actuator according to the detection parameters of the third detection mechanism so that the at least one actuator corresponds to the grabbing position.
12. The grasping apparatus according to claim 1, wherein the first grasping member is a flexible clamp and the second grasping member is a rigid clamp.
13. The grasping apparatus according to claim 12, wherein the first grasping member and the second grasping member are a pneumatic clamp, a hydraulic clamp, an electric clamp, a magnetic clamp, or a vacuum clamp.
14. The grasping apparatus according to claim 12, wherein the first grasping member is a clamp type clamp, an adsorption type clamp, or a holding type clamp.
15. The grasping apparatus according to claim 1, wherein the at least one actuator is configured on an actuator mechanism;
the actuating mechanism comprises at least two conveying rods which are movably connected, wherein at least one group of actuators is movably arranged on each conveying rod, and one group of actuators comprises at least one actuator;
the control mechanism is further used for controlling the at least two conveying rods to rotate through the driving mechanism based on the grabbing part of the target object, so that a corresponding included angle is formed between the two adjacently connected conveying rods, controlling the at least one group of actuators to move on the conveying rods and controlling the actuators in the at least one group of actuators to rotate by corresponding angles respectively.
16. The gripping apparatus according to claim 15, wherein the conveying rod is a screw, a crank, a slide rail or a timing belt.
17. The grasping apparatus according to claim 15, wherein the driving mechanism includes a first driving member to which each first grasping member is connected, a second driving member to which each second grasping member is connected, a third driving member to which each transport rod is connected, and a fourth driving member to which each group of actuators is connected.
18. The grasping apparatus according to claim 17, wherein the first driving member, the second driving member, the third driving member, and the fourth driving member are pneumatic driving members, hydraulic driving members, electric driving members, magnetic driving members, or vacuum driving members.
19. The grasping apparatus according to claim 1, wherein the at least one actuator is configured on an actuator mechanism;
the actuating mechanism comprises a mechanical arm, and the at least one actuator is mounted on the mechanical arm.
20. The gripping apparatus of claim 1, further comprising a travel mechanism coupled to the drive mechanism and the at least one actuator;
the control mechanism is also used for controlling the travelling mechanism to travel through the driving mechanism.
21. The fabric grabbing device is characterized by comprising a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the control mechanism is used for controlling the first gripping part in the at least one actuator to grip a partial area of the printed fabric adhered to the printing platform and move the printed fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the partial area of the printed fabric and separate the residual area of the printed fabric, and matching with the first gripping part to separate the printed fabric from the printing platform.
22. The grasping apparatus according to claim 21, wherein a predetermined fabric area including a fabric area where the grasping portion is located in the printed fabric is provided with a release material.
23. The fabric treatment equipment is characterized by comprising an equipment body and grabbing equipment arranged in the equipment body, wherein the grabbing equipment comprises a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
The control mechanism is used for controlling the first gripping part in the at least one actuator to grip a partial area of the fabric on the placing platform in the equipment body and moving the fabric to the gripping part of the second gripping part through the driving mechanism; and controlling the second gripping part to press the partial area of the fabric and separate the rest area of the fabric, and matching the first gripping part to separate the fabric from the placing platform.
24. A gripping method, which is characterized by being applied to gripping equipment, wherein the gripping equipment comprises a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the method comprises the following steps:
transmitting a driving instruction to the driving mechanism;
controlling the at least one actuator to move to the position of the target object;
controlling the first gripping member in the at least one actuator to grip a partial region of a target object;
controlling the first gripping member in the at least one actuator to move the target object to a gripping location of the second gripping member;
And controlling the second gripping member to press the partial region of the target object and separate the remaining region of the target object, and moving the second gripping member to separate the target object from the placement platform.
25. The method of claim 24, wherein the sending a drive command to the drive mechanism comprises:
in response to a start command, a drive command is sent to the drive mechanism.
26. The method of claim 24, wherein the grasping apparatus further comprises a first detection mechanism for detecting a distance between the at least one actuator and the target object;
the controlling the at least one actuator to move to the position of the target object comprises:
acquiring detection parameters of the first detection mechanism;
based on the detection parameters, the at least one actuator is controlled to move to a first distance above the target object.
27. The method of claim 25, wherein the grasping apparatus further comprises a second detection mechanism for detecting whether the at least one actuator successfully grasps the target object;
after the controlling the second gripping member to press the target object and to move the second gripping member, the method further comprises:
Obtaining a detection result of the second detection mechanism;
and according to the detection result, determining that the at least one executor does not grab the target object, and returning to the step of sending the driving instruction to the driving mechanism again for continuous execution.
28. The method as recited in claim 27, further comprising:
and generating warning information when the number of re-execution times of the at least one executor exceeds a preset number.
29. The use method of the grabbing device is characterized in that the grabbing device comprises a control mechanism, a driving mechanism connected with the control mechanism and at least one actuator connected with the driving mechanism; the actuator comprises a first gripping member and a second gripping member;
the method comprises the following steps:
pre-configuring control parameters of the grabbing device; wherein the control parameters include an order of actions;
starting the grabbing device, controlling the at least one actuator to move to the position of the target object through the driving mechanism according to the control parameters, controlling the first grabbing component in the at least one actuator to grab a part area of the target object and move to the grabbing part of the second grabbing component, controlling the second grabbing component to compress the part area of the target object and separate the rest area of the target object, and matching with the first grabbing component to separate the target object from the placing platform.
30. A control apparatus, characterized by comprising:
the driving module is used for sending a driving instruction to the driving mechanism;
the control module is used for controlling the at least one actuator to move to the position of the target object; controlling a first gripping member in the at least one actuator to grip a partial region of the target object; controlling the first gripping member to move the target object to a gripping location of a second gripping member; and controlling the second gripping member to press the partial region of the target object and separate the remaining region of the target object, and moving the second gripping member to separate the target object from the placement platform.
31. A computer storage medium, characterized in that a computer program is stored, which, when executed by a computer, implements the gripping method according to any of claims 24-28.
CN202010407854.7A 2020-05-14 2020-05-14 Gripping device, processing device, gripping method, use method and control device Active CN113291905B (en)

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